Inverted pendulum control using fuzzy logic

[truongpm]

Hi,

I am trying to practice with simulink and fuzzy logic on the inverted pendulum system. I am following this website's PID example, but would like to substitute PID with fuzzy logic:

http://www.library.cmu.edu/ctms/ctms/simulink/examples/pend/pendsim.htm

My main question at this point is, how does the controller (PID or fuzzy logic) distinguish between proportional (angle) and derivative (angle rate) inputs? See my picture attached below, I am trying to make the controller take in the angle error and angle rate error. I can attach my actual files later if needed.

Thanks.

 

[FeX32]

With the variational rules.
See:

http://www.mathworks.com/help/toolbox/fuzzy/fp13935.html

Fe